CN108163084A - A kind of dedusting walking robot - Google Patents
A kind of dedusting walking robot Download PDFInfo
- Publication number
- CN108163084A CN108163084A CN201711420970.7A CN201711420970A CN108163084A CN 108163084 A CN108163084 A CN 108163084A CN 201711420970 A CN201711420970 A CN 201711420970A CN 108163084 A CN108163084 A CN 108163084A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rack
- showing stand
- catch
- rocking bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/24—Particle separators, e.g. dust precipitators, using rigid hollow filter bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/42—Auxiliary equipment or operation thereof
- B01D46/4245—Means for power supply or devices using electrical power in filters or filter elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
- G09F11/00—Indicating arrangements for variable information in which the complete information is permanently attached to a movable support which brings it to the display position
Abstract
The invention discloses a kind of dedusting walking robots, including rack, respectively rotation is equipped with a support sole to the rack front and back position, position is equipped with supporting rod straight down to the central rack rearward, the supporting rod lower end is equipped with gantry motor, one crank of output axis connection of the gantry motor, the outer end of the crank is rotatably connected to first connecting rod, upper position is rotatably connected to the first rocking bar in the middle part of the supporting rod, the other end of the other end of the first connecting rod and the first rocking bar is rotatedly connected, the angle formed between the first connecting rod described in rotation process and the first rocking bar is always acute angle, the length of first rocking bar is more than the length of first connecting rod.The robot of the present invention can realize walking function by the output of single motor, reasonable in design；Show that device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, bandwagon effect is good, has practicability.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of dedusting walking robot.
Background technology
The walking mechanism complex structural designs of the prior art need multiple motor cooperations that robot could be driven to advance, into
This height；In addition the design of displaying apparatus structure is unreasonable, lacks dynamic effect, needs to improve.
Invention content
The technical problems to be solved by the invention are to provide a kind of dedusting walking robot, to solve to walk in the prior art
Mechanism structure design is complicated, needs multiple motor cooperations that robot could be driven to advance, of high cost；In addition displaying apparatus structure is set
Unreasonable, shortage dynamic effect is counted, the technical issues of needing to improve.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of dedusting walking robot, it is special including rack
Sign is that respectively rotation is equipped with a support sole to the rack front and back position, and position is equipped with straight down the central rack rearward
Supporting rod, the supporting rod lower end be equipped with gantry motor, one crank of output axis connection of the gantry motor, the crank
Outer end be rotatably connected to first connecting rod, upper position is rotatably connected to the first rocking bar in the middle part of the supporting rod, and described first connects
The other end of the other end of bar and the first rocking bar is rotatedly connected, the shape between first connecting rod and the first rocking bar described in rotation process
Into angle be always acute angle, the length of first rocking bar is more than the length of first connecting rod, and the length of the first connecting rod is big
In the length of crank, the junction of the first connecting rod described in rotation process and the first rocking bar is always positioned in front of supporting rod, position
Strut is equipped at the middle part of the first connecting rod rearward position, the strut is vertical and is fixed in the first connecting rod, described
The lower end of strut is rotatably connected to driving sole, and the driving sole periodically contacts to earth with liftoff so as to which rack be driven to advance；
Displaying device is provided with by supporting rack in the rack, the displaying device includes the bottom of an equilateral triangle
Seat, the pedestal are equipped with orbit portion, and the orbit portion includes triangle track and circuit orbit, and the circuit orbit is inscribed within
Triangle track, so as to be separated out disk area and three angle point areas on the pedestal, each angle point area includes proximate base
Edge in two straight flanges of 60 ° of angles and an arc-shaped side in adjacent disk area, the center in the disk area is equipped with circular
First gear, the first gear are driven to rotate by main motor, and the orbit portion is equipped with showing stand, outside the showing stand
Circle is equipped with the second gear being meshed with the first gear, and the outer profile of the second gear is oval, the showing stand
Two bottom sides are respectively equipped with a slider guide so that the showing stand is slided along orbit portion, are set on every lateral edges of the pedestal
There is a mounting groove, be equipped with mask device in the mounting groove, the mask device includes the first catch and the second catch, and described first
The front end of catch is equipped with arc head, and the medium position of the mask device is rotationally connected in the mounting groove, the mounting groove
Compression spring is equipped between the second catch so that the second catch is resisted against on angle point area side wall, when the showing stand is driven by first gear
Dynamic to be moved along triangle track, during by a wherein angle point area, the wherein slider guide on the showing stand oppresses the second catch
It gives up the throne to mounting groove, so that the arc head of first catch is embedded at the disconnecting of triangle track and circuit orbit, makes
Circuit orbit is in closed, so that another slider guide on the showing stand is moved along circuit orbit；
Dust-extraction unit is additionally provided in the rack, the dust-extraction unit includes babinet, and the babinet is equipped with air inlet, goes out
Air port, connects exhaust fan on the air inlet, and the babinet lower end connects purifier by connecting tube, under the purifier
End connects water storage box, and upper end is equipped with spray tube in the babinet, and the spray tube is connect by feed pipe with water storage box, described to give
Water pipe is equipped with water-supply valve, and dust concentration sensor and controller, the exhaust fan, water-supply valve, ash are equipped on the outside of the babinet
Dust concentration sensor is respectively connect with controller, and the water storage box is arranged in rack.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In said program, robot of the invention can realize walking function, structure design by the output of single motor
Rationally.It shows that device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, has and become illusion effect,
Bandwagon effect is good, has practicability.
Description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the stereogram of the rack section of the present invention.
Fig. 3 is the state diagram one of the rack section of the present invention.
Fig. 4 is the state diagram two of the rack section of the present invention.
Fig. 5 is the state diagram three of the rack section of the present invention.
Fig. 6 is the state diagram four of the rack section of the present invention.
Fig. 7 is the vertical view of the displaying device of the present invention.
Fig. 8 is the part-structure schematic diagram of the displaying device of the present invention.
Fig. 9 is the stereogram of the displaying device of the present invention.
Figure 10 is the structure chart of the showing stand of the displaying device of the present invention.
Figure 11 is the status diagram one of the displaying device of the present invention.
Figure 12 is the status diagram two of the displaying device of the present invention.
Figure 13 is the structure chart of the dust-extraction unit of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left side is in Fig. 1, after right side is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of dedusting walking robot, including rack 100, the machine
The rotation of 100 forward position of frame is equipped with front support sole 31, and 100 rear positions of the rack rotation is equipped with rear support sole 32, institute
Stating 100 middle part of rack, position is equipped with gantry motor 34 equipped with supporting rod 33 straight down, 33 lower end of supporting rod rearward,
One crank 35 of output axis connection of the gantry motor 34, the outer end of the crank 35 is rotatably connected to first connecting rod 36, described
33 middle part upper position of supporting rod is rotatably connected to the first rocking bar 37, the other end of the first connecting rod 36 and the first rocking bar 37
The other end is rotatedly connected, and the angle formed between 36 and first rocking bar 37 of first connecting rod described in rotation process is always sharp
Angle, the length of first rocking bar 37 are more than the length of first connecting rod 36, and the length of the first connecting rod 36 is more than crank 35
Length, the junction of 36 and first rocking bar 37 of first connecting rod described in rotation process are always positioned at 33 front of supporting rod, are located at
The middle part of the first connecting rod 36 is equipped with strut 38 at position rearward, and the strut 38 is vertical and is fixed in the first connecting rod
36, the lower end of the strut 38 is rotatably connected to driving sole 39, the driving sole 39 periodically contact to earth with it is liftoff so as to
Rack 100 is driven to advance；The front support sole 31, rear support sole 312 and 39 rotation direction of driving sole are front-rear direction
In the same plane at place.
It is that back and front supporting sole is in landing state simultaneously shown in Fig. 1；With continued reference to Fig. 3, gantry motor band at this time
Dynamic crank rotates counterclockwise, and for the movement locus of strut lower end to move forward and obliquely upward, it is hanging that driving sole is liftoff；Continue
With reference to figure 4, gantry motor drives crank to continue rotation counterclockwise, and driving sole moves forward after the distance of one end, starts to touch
Ground；As shown in figure 5, since the center that sole is driven to contact to earth at this time is located at frame central front, when crank continues
After rotating counterclockwise, front support sole starts vacantly, and rear support sole front end is liftoff, and ground is touched in rear bearing sheet rear end, drives
Dynamic foot plate support plays entire rack；As shown in fig. 6, driving sole is in state of contacting to earth, the rotation of crank pushes rack forwards
Advance, until front support sole starts to contact to earth, finally move to Fig. 1 states, crank rotates one week and forms a complete period
Property movement, can used single motor entire rack is driven to travel forward.
As shown in Fig. 1, Fig. 7 to Figure 10, displaying device 10, the exhibition are provided with by supporting rack 111 in the rack 100
Showing device 10 includes the pedestal 11 of an equilateral triangle, and the pedestal 11 is equipped with orbit portion 12, and the orbit portion 12 includes three
Angular track 121 and circuit orbit 122, triangle track 121 make arc transition, the circuit orbit 122 in its corner location
Triangle track 121 is inscribed within, so as to disk area 13 and three angle point areas 14 are separated out on the pedestal 11, each angle point
Area 14 include proximate base edge in two straight flanges 141 of 60 ° of angles and an arc-shaped side 142 in adjacent disk area, two
Portion is connected and makees arc transition straight flange 141 at one end, the both ends of arc-shaped side 142 the other end phase with two straight flanges 141 respectively
Even, the center in the disk area 13 is equipped with circular first gear 15, and the first gear 15 is driven to turn by main motor 16
Dynamic, the orbit portion 12 is equipped with showing stand 17, and 17 outer ring of showing stand is equipped with the to be meshed with the first gear 15
Two gears 18, the outer profile of the second gear 18 is ellipse, and 17 two bottom sides of showing stand are respectively equipped with a slide guide
Block 19 is so that the showing stand 17 is slided along orbit portion, and every lateral edges of the pedestal 11 are equipped with mounting groove 20, such as Fig. 7 institutes
Show, when first gear 15 rotates counterclockwise, first gear 15 drives showing stand 17 counterclockwise to move, the mounting groove 20
Position be located at after showing stand 17 driven by first gear 15, that side in angle point area 14 is initially entered, in the mounting groove 20
Equipped with mask device 21, the mask device 21 is included in 211 He of the first catch for being posted by triangle track outer rim under normal conditions
The second catch 212 on angle point area side wall is posted by under normal conditions, the front end of first catch 211 are equipped with arc head 2111,
The medium position of the mask device 21 is rotationally connected in the mounting groove 20,20 and second catch 212 of mounting groove it
Between be equipped with compression spring 22 so that the second catch 212 on 14 side wall of angle point area is resisted against under normal conditions, when the showing stand 17 is by first
15 drives edge triangle track 121 of gear moves, during by a wherein angle point area 14, the wherein slide guide on the showing stand 17
Block 19 oppresses the second catch 212 and gives up the throne to mounting groove 20, so that the arc head 2111 of first catch 211 is embedded in triangle
At the disconnecting of shape track 121 and circuit orbit 122, make circuit orbit 122 in closed, so that another on the showing stand 17
Slider guide 19 is moved along circuit orbit 122.Display board 23 is equipped on showing stand 17 vertically.
As shown in figure 11, the tow sides on three display boards are all represented with different letters, when first gear drives
After showing stand orbital motion, state as shown in figure 12 is can transform to, can reach the effect of transformation displaying so circulation is gone down.
Its principle is that for showing stand when being moved on orbit portion, the slider guide being located on front side of direction of advance on showing stand is along periphery
Triangle track movement, the second catch of compressing makes it give up the throne to mounting groove, and the action of giving up the throne of the second catch at this time drives the
The arc head of one catch is embedded at the disconnecting of triangle track and circuit orbit, makes circuit orbit in closed, so that described
Another slider guide on showing stand is moved along circuit orbit, and when showing stand is behind angle point area, another slider guide first passes through angle point
Area, therefore 180 ° of overturning just has occurred, the display board established on showing stand will realize that the displaying by positive content transforms to
The displaying of back side content, the billboard of dynamic mapping can more attract the attention of other people, achieve the effect that publicize widely.
As shown in Fig. 1 and Figure 13, dust-extraction unit 7 is additionally provided in the rack 100, the dust-extraction unit 7 includes babinet 71,
The babinet 71 is equipped with air inlet 72, air outlet 73, connects exhaust fan 74 on the air inlet 72,71 lower end of babinet leads to
It crosses connecting tube 75 and connects purifier 76,76 lower end of purifier connects water storage box 77, and upper end is equipped in the babinet 71
Spray tube 78, the spray tube 78 are connect by feed pipe 79 with water storage box 77, and the feed pipe 79 is equipped with water-supply valve 80, institute
It states 71 outside of babinet and is equipped with dust concentration sensor 81 and controller 82, the exhaust fan 74, water-supply valve 80, dust concentration sensing
Device 81 is respectively connect with controller 82, and the water storage box 77 is arranged in rack 100.Made by dust concentration Sensor monitoring
The dust concentration of industry environment, when dust concentration is more than certain value, signal is transmitted to controller, controller by dust concentration sensor
It signals to open exhaust fan, water-supply valve, air is pumped into babinet by exhaust fan, and spray tube, which sprays water, carries out the dust in air
It settles, then air goes out discharge from air outlet, and the water after ejection is flowed back by filtering, sterilization in water storage box, and carrying out repetition makes
With.
Watering can be also set in rack, and weeder realizes the demand in the operation of gardens field.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of dedusting walking robot, including rack, which is characterized in that respectively rotation is equipped with a support to the rack front and back position
Sole, position is equipped with gantry motor, institute to the central rack equipped with supporting rod straight down, the supporting rod lower end rearward
One crank of output axis connection of gantry motor is stated, the outer end of the crank is rotatably connected to first connecting rod, the supporting rod middle part
Upper position is rotatably connected to the first rocking bar, and the other end of the other end of the first connecting rod and the first rocking bar is rotatedly connected,
The angle formed between first connecting rod described in rotation process and the first rocking bar is always acute angle, and the length of first rocking bar is big
In the length of first connecting rod, the length of the first connecting rod is more than the length of crank, the first connecting rod described in rotation process and
The junction of first rocking bar is always positioned in front of supporting rod, and strut is equipped at the middle part of the first connecting rod rearward position,
The strut is vertical and is fixed in the first connecting rod, and the lower end of the strut is rotatably connected to driving sole, the driving foot
Plate periodically contacts to earth with liftoff so as to which rack be driven to advance；
Displaying device is provided with by supporting rack in the rack, the displaying device includes the pedestal of an equilateral triangle, institute
Pedestal is stated equipped with orbit portion, the orbit portion includes triangle track and circuit orbit, and the circuit orbit is inscribed within triangle
Shape track, so as to be separated out disk area and three angle point areas on the pedestal, each angle point area includes proximate base edge
In two straight flanges of 60 ° of angles and an arc-shaped side in adjacent disk area, the center in the disk area is equipped with circular first
Gear, the first gear are driven to rotate by main motor, and the orbit portion is equipped with showing stand, and the showing stand outer ring is set
There is the second gear being meshed with the first gear, the outer profile of the second gear is oval, the showing stand bottom
Both sides are respectively equipped with a slider guide so that the showing stand is slided along orbit portion, and every lateral edges of the pedestal are equipped with peace
Tankage, the mounting groove is interior to be equipped with mask device, and the mask device includes the first catch and the second catch, first catch
Front end be equipped with arc head, the medium position of the mask device is rotationally connected in the mounting groove, the mounting groove and the
Compression spring is equipped between two catch so that the second catch is resisted against on angle point area side wall, when the showing stand is by first gear drives edge
Triangle track moves, and during by a wherein angle point area, the wherein slider guide on the showing stand oppresses the second catch and gives up the throne
To mounting groove, so that the arc head of first catch is embedded at the disconnecting of triangle track and circuit orbit, make circle
Track is in closed, so that another slider guide on the showing stand is moved along circuit orbit；
Dust-extraction unit is additionally provided in the rack, the dust-extraction unit includes babinet, and the babinet is equipped with air inlet, outlet air
Mouthful, exhaust fan is connected on the air inlet, the babinet lower end connects purifier, the purifier lower end by connecting tube
Water storage box is connected, upper end is equipped with spray tube in the babinet, and the spray tube is connect by feed pipe with water storage box, the feedwater
Pipe is equipped with water-supply valve, and dust concentration sensor and controller, the exhaust fan, water-supply valve, dust are equipped on the outside of the babinet
Concentration sensor is respectively connect with controller, and the water storage box is arranged in rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420970.7A CN108163084A (en) | 2017-12-25 | 2017-12-25 | A kind of dedusting walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711420970.7A CN108163084A (en) | 2017-12-25 | 2017-12-25 | A kind of dedusting walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108163084A true CN108163084A (en) | 2018-06-15 |
Family
ID=62520230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711420970.7A Withdrawn CN108163084A (en) | 2017-12-25 | 2017-12-25 | A kind of dedusting walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108163084A (en) |
-
2017
- 2017-12-25 CN CN201711420970.7A patent/CN108163084A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180615 |